CN114690804A - Unmanned aerial vehicle cluster landing method and system based on smart lamp pole parking apron - Google Patents
Unmanned aerial vehicle cluster landing method and system based on smart lamp pole parking apron Download PDFInfo
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Abstract
The application provides an unmanned aerial vehicle cluster landing method and system based on wisdom lamp pole air park, can be based on the in-process that tactics orbit instruction unmanned aerial vehicle cluster is equipped with the landing on wisdom lamp pole air park, catch proruption state type air park initiatively, intellectuality, and through carrying out tactics orbit correction once more to the tactics orbit queue of waiting to land that proruption state type air park is located, can avoid the matching anomaly of individual unmanned aerial vehicle and proruption state type air park automatically and in real time in unmanned aerial vehicle cluster landing process, can ensure the orderliness and the reply ability to the proruption condition in unmanned aerial vehicle cluster landing process, reduce the conflict of landing and the interference between the unmanned aerial vehicle of proruption state type air park to a certain extent, can link the unmanned aerial vehicle that is in flight state in advance under the prerequisite of catching proruption state air park like this, thereby ensure that the unmanned aerial vehicle can be safe, the, Orderly stand by to land on the designated wisdom lamp pole parking apron.
Description
Technical Field
The application relates to the technical field of intelligent lamp pole air park and unmanned aerial vehicles, in particular to an unmanned aerial vehicle cluster landing method and system based on the intelligent lamp pole air park.
Background
Multifunctional intelligent lamp pole (multi-function smart lighting pole) for short refers to the lamp pole that satisfies the road lighting demand on, carries on multiple equipment (sensor), can realize multiple functions, has the wisdom ability. In practical applications, one of the functions of the smart light pole is to be used as an apron of an Unmanned Aerial Vehicle (UAV).
Along with the type and the constantly increasing of quantity of unmanned aerial vehicle's participation project, unmanned aerial vehicle's quantity and scale are also constantly expanding, and it is more and more high to park the requirement of preparing for landing to the unmanned aerial vehicle on wisdom lamp pole air park. However, when an emergency occurs on a smart lamp pole, it is difficult for the related art to ensure that the unmanned aerial vehicle cluster safely and orderly landes on a designated smart lamp pole parking apron, in other words, the related unmanned aerial vehicle cluster landing technology has a problem of poor emergency coping capability.
Disclosure of Invention
For improving the technical problem that exists among the correlation technique, the application provides an unmanned aerial vehicle cluster landing method and system based on wisdom lamp pole air park.
The application provides an unmanned aerial vehicle cluster landing method based on wisdom lamp pole air park is applied to remote monitoring center system, the method includes:
determining a standby descending strategy track queue according to the visual distribution record of the intelligent lamp pole parking apron cluster to be monitored, wherein the standby descending strategy track queue comprises a plurality of standby descending strategy tracks;
in the process of executing unmanned aerial vehicle cluster standby landing operation according to the standby landing strategy trajectory queue, on the premise of capturing that a first standby landing strategy trajectory corresponds to a sudden-state parking apron, performing strategy trajectory correction on the first standby landing strategy trajectory again to obtain at least one second standby landing strategy trajectory, wherein the first standby landing strategy trajectory comprises a standby landing strategy trajectory falling into a capture constraint boundary of the remote monitoring center system;
optimizing the strategy trajectory queue for standby descent according to the second strategy trajectory for standby descent to obtain a strategy trajectory queue for standby descent after optimization is completed;
and executing the unmanned aerial vehicle cluster standby landing operation according to the optimized standby landing strategy trajectory queue.
Aiming at some technical schemes which can be independently implemented, any standby descending strategy track comprises a first idle intelligent lamp pole node and a second idle intelligent lamp pole node, and on the premise of capturing the emergency-state parking apron corresponding to the first standby descending strategy track, strategy track correction is carried out on the first standby descending strategy track again to obtain at least one second standby descending strategy track, and the method comprises the following steps:
on the premise of capturing that the first standby descending strategy track corresponds to the emergency-state parking apron, performing strategy track correction on the first standby descending strategy track again according to the space description of a first idle intelligent lamp pole node and a second idle intelligent lamp pole node of the first standby descending strategy track and the emergency-state parking apron to obtain at least one second standby descending strategy track;
correspondingly, the strategy trajectory correction is performed on the first standby landing strategy trajectory again according to the first idle intelligent lamp post node and the second idle intelligent lamp post node of the first standby landing strategy trajectory and the space description of the emergency-state parking apron, so as to obtain at least one second standby landing strategy trajectory, and the method comprises the following steps:
under the premise that the space description of the emergency-state parking apron falls between a first idle intelligent lamp pole node and a second idle intelligent lamp pole node of the first standby landing strategy track, the first standby landing strategy track is split into a second standby landing strategy track d1 and a second standby landing strategy track d2, wherein the second standby landing strategy track d1 uses the first idle intelligent lamp pole node of the first standby landing strategy track as a first idle intelligent lamp pole node, so as to fall between the first idle intelligent lamp pole node of the first standby landing strategy track and the emergency-state parking apron and match the first space description of the emergency-state parking apron is a second idle intelligent lamp pole node, and the second standby landing strategy track d2 uses the second idle intelligent lamp pole node of the first standby landing strategy track and the emergency-state parking apron and match the second space description of the emergency-state parking apron is a first space description And arranging an intelligent lamp pole node, wherein the second idle intelligent lamp pole node of the first standby landing strategy track is used as the second idle intelligent lamp pole node.
For some independently implementable technical solutions, the performing again a strategy trajectory correction on the first standby-lowering strategy trajectory according to the first idle smart pole node and the second idle smart pole node of the first standby-lowering strategy trajectory and the spatial description of the emergency-state apron to obtain at least one second standby-lowering strategy trajectory includes:
determining a third spatial description which is matched with the emergency parking apron and falls between the emergency parking apron and a second idle intelligent lamp pole node of the first to-be-lowered strategy track on the premise that the spatial description of the emergency parking apron is bound with the first idle intelligent lamp pole node of the first to-be-lowered strategy track;
obtaining a second standby descending strategy track d3 according to the third space description and a second idle smart pole node of the first standby descending strategy track, wherein the third space description of the second standby descending strategy track d3 is a first idle smart pole node, and the second idle smart pole node of the first standby descending strategy track is a second idle smart pole node;
or, on the premise that the spatial description of the emergency-state parking apron is bound to the second idle smart pole node of the first standby-lowering strategy trajectory, determining a fourth spatial description which matches the emergency-state parking apron and falls between the emergency-state parking apron and the first idle smart pole node of the first standby-lowering strategy trajectory;
and obtaining a second standby descending strategy track d4 according to the fourth space description and the first idle intelligent lamp pole node of the first standby descending strategy track, wherein the second standby descending strategy track d4 takes the first idle intelligent lamp pole node of the first standby descending strategy track as the first idle intelligent lamp pole node, and the fourth space description is taken as the second idle intelligent lamp pole node.
To some technical solutions that can be implemented independently, a detection path of the remote monitoring center system is from an idle smart lamp pole head node to an idle smart lamp pole tail node, the idle smart lamp pole head node is a first idle smart lamp pole node or a second idle smart lamp pole node of the standby descending strategy trajectory, the idle smart lamp pole tail node is another idle smart lamp pole node except the idle smart lamp pole head node in the standby descending strategy trajectory, and the standby descending strategy trajectory queue is optimized according to the second standby descending strategy trajectory to obtain an optimized standby descending strategy trajectory queue, including:
determining a target standby descending strategy track of an idle intelligent lamp pole head node comprising the first standby descending strategy track from the second standby descending strategy track;
updating a first standby strategy track in the standby strategy track queue by using the target standby strategy track;
determining whether an extended standby descending strategy track exists, wherein the extended standby descending strategy track is a second standby descending strategy track except for the target standby descending strategy track in the second standby descending strategy track;
on the premise that the expanded standby descending strategy trajectory exists, increasing the expanded standby descending strategy trajectory in the standby descending strategy trajectory queue; obtaining a standby descending strategy track queue which is optimized;
and on the premise that the target standby descending strategy track does not exist, updating the first standby descending strategy track in the standby descending strategy track queue by using the second standby descending strategy track.
For some independently implementable technical solutions, the performing, according to the optimized standby-for-landing strategy trajectory queue, a cluster standby-for-landing operation of the unmanned aerial vehicle includes:
the remote monitoring center system traverses from the head node of the idle intelligent lamp post of the current standby descending strategy track to the tail node of the idle intelligent lamp post of the current standby descending strategy track;
optimizing the current standby descending strategy track to a standby descending strategy track in the standby descending strategy track queue on the premise that the remote monitoring center system traverses to an idle intelligent lamp post tail node of the current standby descending strategy track, wherein an idle intelligent lamp post head node of the current standby descending strategy track is a first idle intelligent lamp post node or a second idle intelligent lamp post node of the current standby descending strategy track, and an idle intelligent lamp post tail node of the current standby descending strategy track is another idle intelligent lamp post node except the idle intelligent lamp post head node;
correspondingly, the executing the unmanned aerial vehicle cluster standby landing operation according to the optimized standby landing strategy trajectory queue further includes:
on the premise that the remote monitoring center system traverses from the idle intelligent lamp pole head node of the current standby descending strategy track to the idle intelligent lamp pole tail node of the current standby descending strategy track, determining a third standby descending strategy track from the optimized standby descending strategy track queue according to the idle intelligent lamp pole tail node of the current standby descending strategy track;
the remote monitoring center system traverses from the current strategy track to be standby for descent to the third strategy track to be standby for descent;
taking the third standby descending strategy track as a new current standby descending strategy track;
correspondingly, the traversing of the remote monitoring center system from the current standby landing strategy trajectory to the third standby landing strategy trajectory includes:
the remote monitoring center system traverses from the tail node of the idle intelligent lamp post of the current standby descending strategy track to the head node of the idle intelligent lamp post of the third standby descending strategy track;
on the premise that the idle intelligent lamp post tail node of the current standby descending strategy track is the second idle intelligent lamp post node of the current standby descending strategy track, determining that the second idle intelligent lamp post node of the third standby descending strategy track is the idle intelligent lamp post head node of the third standby descending strategy track, and determining that the first idle intelligent lamp post node of the third standby descending strategy track is the idle intelligent lamp post tail node of the third standby descending strategy track;
or, treat that the idle wisdom lamp pole tail node of descending strategy orbit does at present treat that the first idle wisdom lamp pole node of descending strategy orbit does at present under the prerequisite of the first idle wisdom lamp pole node of descending strategy orbit, confirm the first idle wisdom lamp pole node of descending strategy orbit of third is treated the idle wisdom lamp pole head node of descending strategy orbit, and confirms the idle wisdom lamp pole node of second of descending strategy orbit of third is treated the idle wisdom lamp pole tail node of descending strategy orbit of third.
For some independently implementable technical solutions, the determining, according to the idle smart light pole tail node of the current standby descending strategy trajectory, a third standby descending strategy trajectory from the optimized standby descending strategy trajectory includes:
determining whether a strategy track to be prepared for landing exists in a subsequent space of the current strategy track to be prepared for landing on the current intelligent lamp pole parking apron;
on the premise that a standby descending strategy track exists in a space subsequent to the current standby descending strategy track on the current smart lamp pole apron descending sequence, determining a third standby descending strategy track from the standby descending strategy track in the space subsequent to the current standby descending strategy track according to an idle smart lamp pole tail node of the current standby descending strategy track;
correspondingly, according to the idle wisdom lamp pole tail node of present waiting to fall strategy track, follow in waiting to fall strategy track of present waiting to fall strategy track follow-up space the third is awaited to fall strategy track, include:
determining a target idle intelligent lamp post node from idle intelligent lamp post nodes corresponding to the standby strategy track in the space subsequent to the current standby strategy track, wherein the target idle intelligent lamp post node and the idle intelligent lamp post tail node of the current standby strategy track are idle intelligent lamp post nodes in the same category, and the target idle intelligent lamp post node is closest to the idle intelligent lamp post tail node of the current standby strategy track;
and determining that the strategy track to be prepared for descending corresponding to the target idle intelligent lamppost node is the third strategy track to be prepared for descending.
For some independently implementable technical solutions, the determining, according to the idle smart light pole tail node of the current standby descending strategy trajectory, a third standby descending strategy trajectory from the optimized standby descending strategy trajectory further includes:
on the premise that a standby descending strategy track does not exist in the space subsequent to the current standby descending strategy track in the standby descending sequence of the current intelligent lamp pole apron, whether a standby descending strategy track having an influence on the current standby descending strategy track exists or not is determined according to an idle intelligent lamp pole tail node of the current standby descending strategy track;
on the premise that a standby descending strategy track having an influence on the current standby descending strategy track exists, determining the standby descending strategy track having an influence on the current standby descending strategy track as the third standby descending strategy track;
correspondingly, according to the idle wisdom lamp pole tail node according to present waiting to descend strategy orbit follow the waiting to descend strategy orbit of accomplishing the optimization confirms the third and waits to descend strategy orbit, still include:
on the premise that the strategy track to be parked does not exist, which is influenced by the current strategy track to be parked, the sequence of the intelligent lamp pole parking apron to be parked is changed.
For some independently implementable technical solutions, the method further comprises:
on the premise that the space description of the first burst-state type parking apron does not capture the burst-state type parking apron, determining whether a fourth to-be-prepared landing strategy track related to the space description of the first burst-state type parking apron exists in the to-be-prepared landing strategy track;
on the premise that the fourth standby descending strategy track exists, strategy track correction is carried out on the fourth standby descending strategy track again according to the space description of the first burst-state type apron to obtain a fifth standby descending strategy track;
optimizing the standby descending strategy trajectory queue according to the fifth standby descending strategy trajectory to obtain an optimized standby descending strategy trajectory queue, wherein the space description of the first burst-state type apron comprises the space description of the burst-state type apron in a capture constraint boundary of the remote monitoring center system;
correspondingly, the method further comprises the following steps:
on the premise that the fourth standby landing strategy track does not exist, strategy track correction is carried out according to the space description of the first burst-state type apron to obtain a sixth standby landing strategy track;
and optimizing the strategy trajectory queue for standby descent according to the sixth strategy trajectory for standby descent to obtain the optimized strategy trajectory queue for standby descent.
For some independently implementable technical solutions, the performing, according to the optimized standby-for-landing strategy trajectory queue, a standby-for-landing operation of the unmanned aerial vehicle cluster further includes:
on the premise that the third standby landing strategy track does not exist, capturing the range of the burst-state parking apron;
and on the premise that the sudden-state air park is not captured in the range of the sudden-state air park, performing unmanned aerial vehicle cluster landing preparation operation on the range of the sudden-state air park.
The application also provides a remote monitoring center system, which comprises a processor and a memory; the processor is connected with the memory in communication, and the processor is used for reading the computer program from the memory and executing the computer program to realize the method.
The technical scheme provided by the embodiment of the application can have the following beneficial effects.
In this application embodiment, the remote monitoring center system can confirm the policy track queue of waiting to descend including a plurality of policy tracks of waiting to descend according to the visual distribution record of the wisdom lamp pole parking apron cluster of waiting to monitor that obtains, and in the in-process of treating the landing scope and carrying out unmanned aerial vehicle cluster and falling the operation according to the policy track queue of waiting to descend, catch first policy track of waiting to descend and correspond to have under the prerequisite of proruption state type parking apron, can carry out policy track correction once more to first policy track of waiting to descend, obtain at least one second policy track of waiting to descend, and right according to the policy track of waiting to descend the policy track queue of waiting to descend optimizes, obtain the policy track queue of waiting to descend who accomplishes the optimization, and then according to the policy track queue of waiting to descend that accomplishes the optimization and carries out unmanned aerial vehicle cluster and falls the operation.
The unmanned aerial vehicle cluster landing method and system based on the intelligent lamp pole parking apron can actively and intelligently capture the burst state parking apron in the process of indicating the unmanned aerial vehicle cluster to land on the intelligent lamp pole parking apron based on the strategy track, and can automatically and real-timely avoid the matching abnormity of individual unmanned aerial vehicles and the burst state parking apron in the unmanned aerial vehicle cluster landing process by correcting the strategy track of the strategy track queue to be landed where the burst state parking apron is located, can ensure the orderliness and the coping capability aiming at the burst situation in the unmanned aerial vehicle cluster landing process, reduce the landing conflict and the interference between the landing unmanned aerial vehicle and the burst state parking apron to a certain extent, and can link the unmanned aerial vehicle in the flying state in advance on the premise of capturing the burst state parking apron, thereby ensure to be equipped with and land unmanned aerial vehicle can be safely, orderly be equipped with and land on appointed wisdom lamp pole parking apron.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and together with the description, serve to explain the principles of the application.
Fig. 1 is a schematic diagram of a hardware structure of a remote monitoring center system according to an embodiment of the present disclosure.
Fig. 2 is a schematic flow chart of an unmanned aerial vehicle cluster landing method based on a smart lamp pole apron provided in an embodiment of the present application.
Fig. 3 is a schematic communication architecture diagram of an application environment of an unmanned aerial vehicle cluster landing method based on a smart lamp pole apron according to an embodiment of the present application.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. The following description refers to the accompanying drawings in which the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary examples do not represent all implementations consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order.
The method embodiments provided in the embodiments of the present application may be executed in a remote monitoring center system, a computer device, or a similar computing device. Taking the operation on the remote monitoring center system as an example, fig. 1 is a hardware structure block diagram of the remote monitoring center system implementing the unmanned aerial vehicle cluster landing method based on the smart lamp pole apron according to the embodiment of the present application. As shown in fig. 1, the remote monitoring center system 10 may include one or more (only one is shown in fig. 1) processors 102 (the processors 102 may include, but are not limited to, a processing device such as a microprocessor MCU or a programmable logic device FPGA) and a memory 104 for storing data, and optionally, a transmission device 106 for communication functions. It will be understood by those skilled in the art that the structure shown in fig. 1 is only an illustration, and is not intended to limit the structure of the remote monitoring center system. For example, the remote monitoring center system 10 may also include more or fewer components than shown in FIG. 1, or have a different configuration than shown in FIG. 1.
The memory 104 may be used to store a computer program, for example, a software program and a module of an application software, such as a computer program corresponding to a smart lamp pole apron-based unmanned aerial vehicle cluster landing method in the embodiment of the present application, and the processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, so as to implement the method described above. The memory 104 may include high speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include memory located remotely from the processor 102, which may be connected to the remote monitoring center system 10 via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The transmission device 106 is used for receiving or transmitting data via a network. Specific examples of the network described above may include a wireless network provided by a communication provider of the remote monitoring center system 10. In one example, the transmission device 106 includes a Network adapter (NIC), which can be connected to other Network devices through a base station so as to communicate with the internet. In one example, the transmission device 106 may be a Radio Frequency (RF) module, which is used for communicating with the internet in a wireless manner.
Based on this, please refer to fig. 2, fig. 2 is a schematic flow chart of an unmanned aerial vehicle cluster landing method based on a smart lamp pole apron according to an embodiment of the present invention, the method is applied to a remote monitoring center system, and may specifically include the technical solutions described in steps 210 to 240.
Step 210, determining a standby descending strategy track queue according to the visual distribution record of the intelligent lamp pole parking apron cluster to be monitored, wherein the standby descending strategy track queue comprises a plurality of standby descending strategy tracks.
In this application embodiment, remote monitoring center system communicates with a plurality of wisdom lamp pole air park and many unmanned aerial vehicle respectively, and many unmanned aerial vehicle can constitute the unmanned aerial vehicle cluster, and a plurality of wisdom lamp pole air park can be understood as wisdom lamp pole air park cluster, and wisdom lamp pole air park cluster is used for matching the unmanned aerial vehicle cluster and in order to realize the preparation of unmanned aerial vehicle sentence cluster and park.
Further, the geographical position distribution condition or the spatial position distribution condition of wisdom lamp pole air park cluster can be understood as treating to monitor for visual distribution record, can know the relative spatial position relation between the different wisdom lamp pole air parks in wisdom lamp pole air park cluster more directly perceived and accurately through visual distribution record to better appointed different unmanned aerial vehicle's the order of reselling. It can be understood that the strategy track of waiting for landing in this application embodiment can be understood as the route of waiting for landing, the order of waiting for landing or the indicating information of waiting for landing of different unmanned aerial vehicles, and the strategy track of waiting for landing is used for instructing the waiting for landing of unmanned aerial vehicle on wisdom lamp pole air park.
Step 220, in the process of executing the cluster standby landing operation of the unmanned aerial vehicle according to the standby landing strategy trajectory queue, on the premise of capturing that a first standby landing strategy trajectory corresponds to a sudden-state parking apron, performing strategy trajectory correction on the first standby landing strategy trajectory again to obtain at least one second standby landing strategy trajectory, wherein the first standby landing strategy trajectory comprises a standby landing strategy trajectory falling into a capturing constraint boundary of the remote monitoring center system.
In this application embodiment, in the process of executing unmanned aerial vehicle cluster landing preparation operation, some wisdom lamp pole air park may appear emergency, for example temporary fault or the condition such as take precedence temporarily, and this kind of wisdom lamp pole air park can understand as the proruption state type air park. Correspondingly, when the first standby landing strategy track corresponds to the emergency-state parking apron, the emergency situation of one or more intelligent lamp pole parking aprons exists in the intelligent lamp pole parking aprons corresponding to the first standby landing strategy track when the standby landing indication of the unmanned aerial vehicles is carried out according to the first standby landing strategy track, and at this time, the emergency-state parking apron cannot carry out standby landing and parking of the unmanned aerial vehicles according to an original plan, so that the strategy track needs to be corrected, and the follow-up unmanned aerial vehicles can be stopped on the intelligent lamp pole parking apron of the adaptive system. Accordingly, the capture constraint boundary of the remote monitoring center system can be understood as a detection range of the remote monitoring center system, which may be a certain region, a certain building, etc., and is not limited herein.
In some possible examples, any standby strategy trajectory includes a first idle smart pole node and a second idle smart pole node. Based on this, in some independently implementable technical solutions, on the premise that the first standby-lowering strategy trajectory is captured and a sudden-state apron exists, performing strategy trajectory correction on the first standby-lowering strategy trajectory again to obtain at least one second standby-lowering strategy trajectory as described in step 220 may include step 2200: and on the premise of capturing that the first standby descending strategy track corresponds to the emergency-state parking apron, performing strategy track correction on the first standby descending strategy track again according to the first idle intelligent lamp pole node and the second idle intelligent lamp pole node of the first standby descending strategy track and the space description of the emergency-state parking apron to obtain at least one second standby descending strategy track.
In this embodiment, the spatial description may be understood as the location of the stateful parking apron, and based on this, the step 2200 described above, performing the policy trajectory correction again on the first standby-to-descend policy trajectory according to the first idle smart pole node and the second idle smart pole node of the first standby-to-descend policy trajectory and the spatial description of the stateful parking apron, to obtain at least one second standby-to-descend policy trajectory, includes: under the premise that the space description of the emergency-state parking apron falls between a first idle intelligent lamp pole node and a second idle intelligent lamp pole node of the first standby landing strategy track, the first standby landing strategy track is split into a second standby landing strategy track d1 and a second standby landing strategy track d2, wherein the second standby landing strategy track d1 uses the first idle intelligent lamp pole node of the first standby landing strategy track as a first idle intelligent lamp pole node, so as to fall between the first idle intelligent lamp pole node of the first standby landing strategy track and the emergency-state parking apron and match the first space description of the emergency-state parking apron is a second idle intelligent lamp pole node, and the second standby landing strategy track d2 uses the second idle intelligent lamp pole node of the first standby landing strategy track and the emergency-state parking apron and match the second space description of the emergency-state parking apron is a first space description And arranging an intelligent lamp pole node, wherein the second idle intelligent lamp pole node of the first standby landing strategy track is used as the second idle intelligent lamp pole node.
In some other examples, the performing the strategy trajectory correction again on the first standby strategy trajectory according to the spatial description of the first idle smart pole node and the second idle smart pole node of the first standby strategy trajectory and the stateful apron described in step 2200 above to obtain at least one second standby strategy trajectory further includes: determining a third spatial description which is matched with the emergency parking apron and falls between the emergency parking apron and a second idle intelligent lamp pole node of the first to-be-lowered strategy track on the premise that the spatial description of the emergency parking apron is bound with the first idle intelligent lamp pole node of the first to-be-lowered strategy track; obtaining a second standby descending strategy track d3 according to the third space description and a second idle smart pole node of the first standby descending strategy track, wherein the third space description of the second standby descending strategy track d3 is a first idle smart pole node, and the second idle smart pole node of the first standby descending strategy track is a second idle smart pole node; or, on the premise that the spatial description of the emergency-state parking apron is bound to the second idle smart pole node of the first standby-lowering strategy trajectory, determining a fourth spatial description which matches the emergency-state parking apron and falls between the emergency-state parking apron and the first idle smart pole node of the first standby-lowering strategy trajectory; and obtaining a second standby descending strategy track d4 according to the fourth space description and the first idle intelligent lamp pole node of the first standby descending strategy track, wherein the second standby descending strategy track d4 takes the first idle intelligent lamp pole node of the first standby descending strategy track as the first idle intelligent lamp pole node, and the fourth space description is taken as the second idle intelligent lamp pole node.
And step 230, optimizing the standby descending strategy track queue according to the second standby descending strategy track to obtain a standby descending strategy track queue with the optimized standby descending strategy track queue.
In some possible examples, the detection path of the remote monitoring center system is from an idle smart pole head node to an idle smart pole tail node, where the idle smart pole head node is a first idle smart pole node or a second idle smart pole node of the standby drop strategy trajectory, and the idle smart pole tail node is another idle smart pole node except the idle smart pole head node in the standby drop strategy trajectory. Based on this, the optimizing the standby drop strategy trajectory queue according to the second standby drop strategy trajectory described in the above steps to obtain an optimized standby drop strategy trajectory queue includes: determining a target standby descending strategy track of an idle intelligent lamp pole head node comprising the first standby descending strategy track from the second standby descending strategy track; updating a first standby strategy track in the standby strategy track queue by using the target standby strategy track; determining whether an expanded standby descending strategy track (such as a newly added standby descending strategy track) exists, wherein the expanded standby descending strategy track is a second standby descending strategy track except for the target standby descending strategy track in the second standby descending strategy track; on the premise that the expanded standby descending strategy track exists, increasing the expanded standby descending strategy track in the standby descending strategy track queue; and obtaining the optimized standby descending strategy track queue.
In some other embodiments, the step of optimizing the standby drop strategy trajectory queue according to the second standby drop strategy trajectory to obtain an optimized standby drop strategy trajectory queue further includes: and on the premise that the target standby descending strategy track does not exist, updating the first standby descending strategy track in the standby descending strategy track queue by using the second standby descending strategy track.
So design, can consider the relative position relation of different wisdom lamp pole air park in the different tactics tracks of waiting to land to the realization is waited to land accurate, the real-time update planning of tactics tracks of waiting to land, ensures that the tactics tracks of waiting to land after the update can with the demand phase-match that falls of unmanned aerial vehicle cluster.
And 240, executing the unmanned aerial vehicle cluster standby landing operation according to the optimized standby landing strategy trajectory queue.
For example, can instruct corresponding unmanned aerial vehicle to reserve to land on corresponding wisdom lamp pole parking apron based on the tactics orbit queue of waiting to reserve to accomplish optimization to can instruct corresponding unmanned aerial vehicle to avoid proruption state type parking apron, thereby avoid unmanned aerial vehicle mistake to reserve to land at proruption state type parking apron and bring whole unmanned aerial vehicle and reserve the confusion of system of landing.
In some embodiments, the performing the drone cluster touchdown operation according to the optimized touchdown strategy trajectory queue described in step 240 may include: the remote monitoring center system traverses from the head node of the idle intelligent lamp post of the current standby descending strategy track to the tail node of the idle intelligent lamp post of the current standby descending strategy track; remote monitoring center system traverses to under the prerequisite of the idle wisdom lamp pole tail node of current strategy track of waiting to descend treat among the strategy track queue of waiting to descend will current strategy track of waiting to descend is optimized to the strategy track of waiting to descend, wherein, the idle wisdom lamp pole head node of current strategy track of waiting to descend does the idle wisdom lamp pole node of the first idle wisdom lamp pole node or the second of current strategy track of waiting to descend, the idle wisdom lamp pole tail node of current strategy track of waiting to descend does in the current strategy track of waiting to descend except that another idle wisdom lamp pole head node.
So design, traverse through treating idle wisdom lamp pole node of falling policy orbit ready, can guarantee as far as possible to the consideration analysis of the emergency of all idle wisdom lamp pole nodes to realize the continuation control that unmanned aerial vehicle was fallen ready, ensure the normal clear that unmanned aerial vehicle was fallen ready.
In other embodiments, which may be implemented independently, the performing the drone cluster standby landing operation according to the standby landing strategy trajectory queue that completes the optimization, as described in step 240, further includes: on the premise that the remote monitoring center system traverses from the idle intelligent lamp pole head node of the current standby descending strategy track to the idle intelligent lamp pole tail node of the current standby descending strategy track, determining a third standby descending strategy track from the optimized standby descending strategy track queue according to the idle intelligent lamp pole tail node of the current standby descending strategy track; the remote monitoring center system traverses from the current strategy track to be standby for descent to the third strategy track to be standby for descent; and taking the third standby descending strategy track as a new current standby descending strategy track. So design, can carry out the adjustment of the strategy track of waiting to land of adaptability based on the emergency of falling reserve of difference to avoid unmanned aerial vehicle to park on proruption state type parking apron, corresponding unmanned aerial vehicle can also be guaranteed to fall reserve fast on other wisdom lamp pole parking aprons when proruption state type parking apron appears simultaneously.
For some independently implementable technical solutions, traversing the remote monitoring center system from the current standby descending strategy trajectory to the third standby descending strategy trajectory by the above steps includes: the remote monitoring center system traverses from the tail node of the idle intelligent lamp post of the current standby descending strategy track to the head node of the idle intelligent lamp post of the third standby descending strategy track; on the premise that the idle intelligent lamp post tail node of the current standby descending strategy track is the second idle intelligent lamp post node of the current standby descending strategy track, determining that the second idle intelligent lamp post node of the third standby descending strategy track is the idle intelligent lamp post head node of the third standby descending strategy track, and determining that the first idle intelligent lamp post node of the third standby descending strategy track is the idle intelligent lamp post tail node of the third standby descending strategy track; or, treat that the idle wisdom lamp pole tail node of descending strategy orbit does at present treat that the first idle wisdom lamp pole node of descending strategy orbit does at present under the prerequisite of the first idle wisdom lamp pole node of descending strategy orbit, confirm the first idle wisdom lamp pole node of descending strategy orbit of third is treated the idle wisdom lamp pole head node of descending strategy orbit, and confirms the idle wisdom lamp pole node of second of descending strategy orbit of third is treated the idle wisdom lamp pole tail node of descending strategy orbit of third.
In some other embodiments, the determining a third standby drop strategy trajectory from the optimized standby drop strategy trajectory according to the idle smart light pole tail node of the current standby drop strategy trajectory may include the following: determining whether a strategy track to be prepared for landing exists in a subsequent space of the current strategy track to be prepared for landing on the current intelligent lamp pole parking apron; and on the premise that the standby descending strategy track exists in the subsequent space of the current standby descending strategy track on the standby descending sequence of the current intelligent lamp pole apron, determining a third standby descending strategy track from the standby descending strategy track in the subsequent space of the current standby descending strategy track according to the idle intelligent lamp pole tail node of the current standby descending strategy track.
In this embodiment of the application, the space following the current standby strategy trajectory in the current smart lamp pole parking apron standby descending order may be understood as being in front of the current standby strategy trajectory in the current smart lamp pole parking apron standby descending order. So design, through considering on present wisdom lamp pole air park is equipped with to land the tactics orbit of waiting to land in the place ahead of tactics orbit of waiting to land at present can ensure the third that obtains and wait to land tactics orbit and actual unmanned aerial vehicle and park the emergency looks adaptation of demand and wisdom lamp pole air park.
On the basis of the above embodiment, according to the idle smart light pole tail node of the current standby descending strategy track, determining a third standby descending strategy track from the standby descending strategy track in the subsequent space of the current standby descending strategy track may include the following: determining a target idle intelligent lamp post node from idle intelligent lamp post nodes corresponding to the standby strategy track in the space subsequent to the current standby strategy track, wherein the target idle intelligent lamp post node and the idle intelligent lamp post tail node of the current standby strategy track are idle intelligent lamp post nodes in the same category, and the target idle intelligent lamp post node is closest to the idle intelligent lamp post tail node of the current standby strategy track; and determining that the strategy track to be prepared for descending corresponding to the target idle intelligent lamppost node is the third strategy track to be prepared for descending. So design, through considering the relative position relation between the idle wisdom lamp pole node, can accurately, determine in real time that the third waits to prepare for the descending strategy orbit.
Under some independently implementable technical solutions, the determining, according to the idle smart light pole tail node of the current standby descending strategy trajectory, a third standby descending strategy trajectory from the optimized standby descending strategy trajectory in the above steps may further include the following steps: on the premise that a standby descending strategy track does not exist in the space subsequent to the current standby descending strategy track in the standby descending sequence of the current intelligent lamp pole apron, whether a standby descending strategy track having an influence on the current standby descending strategy track exists or not is determined according to an idle intelligent lamp pole tail node of the current standby descending strategy track; on the premise that a standby descending strategy track having an influence on the current standby descending strategy track exists, determining the standby descending strategy track having an influence on the current standby descending strategy track as the third standby descending strategy track; on the premise that the strategy track to be parked does not exist, which is influenced by the current strategy track to be parked, the sequence of the intelligent lamp pole parking apron to be parked is changed. By the design, the interference and influence of the different standby landing strategy tracks on the standby landing parking of the unmanned aerial vehicle can be avoided as much as possible by considering the mutual influence among the different standby landing strategy tracks, so that the standby landing parking reliability of the unmanned aerial vehicle cluster is improved.
In some possible embodiments, the performing, according to the trajectory queue of the standby landing strategy that completes optimization, the unmanned aerial vehicle cluster standby landing operation described in the above step may further include: on the premise that the third standby landing strategy track does not exist, capturing the range of the sudden-state type apron; and on the premise that the sudden-state air park is not captured in the range of the sudden-state air park, performing unmanned aerial vehicle cluster landing preparation operation on the range of the sudden-state air park.
On the basis of the above, for some independently implementable technical solutions, the method may further include the following: on the premise that the space description of the first burst-state type parking apron does not capture the burst-state type parking apron, determining whether a fourth standby landing strategy track associated with the space description of the first burst-state type parking apron exists in the standby landing strategy tracks or not; on the premise that the fourth standby descending strategy track exists, strategy track correction is carried out on the fourth standby descending strategy track again according to the space description of the first burst-state type apron to obtain a fifth standby descending strategy track; and optimizing the standby descending strategy trajectory queue according to the fifth standby descending strategy trajectory to obtain an optimized standby descending strategy trajectory queue, wherein the spatial description of the first burst-state type apron comprises the spatial description of the burst-state type apron in a capture constraint boundary of the remote monitoring center system. So design can combine the different circumstances to treat the optimization of falling strategy orbit queue to improve the efficiency of parking of falling in preparation of unmanned aerial vehicle cluster in wisdom lamp pole parking apron cluster under furthest.
For some optional embodiments, the method further comprises: on the premise that the fourth standby landing strategy track does not exist, strategy track correction is carried out according to the space description of the first burst-state type apron to obtain a sixth standby landing strategy track; and optimizing the strategy trajectory queue for standby descent according to the sixth strategy trajectory for standby descent to obtain the optimized strategy trajectory queue for standby descent.
It should be appreciated that in the above embodiments, the different standby fall strategy trajectories are distinguished by first, second, third, etc.
On the basis, please refer to fig. 3, and based on the same inventive concept, the present application further provides an application environment 30 of the unmanned aerial vehicle cluster landing method based on the smart lamp pole apron, where the system includes a remote monitoring center system 10, the smart lamp pole apron cluster 20, and a plurality of unmanned aerial vehicles 40, which are in communication with each other. The remote monitoring center system 10 determines a standby landing strategy trajectory queue according to the visual distribution record of the intelligent lamp pole apron cluster 20 to be monitored, wherein the standby landing strategy trajectory queue comprises a plurality of standby landing strategy trajectories; in the process of executing unmanned aerial vehicle cluster standby landing operation according to the standby landing strategy trajectory queue, on the premise of capturing that a first standby landing strategy trajectory corresponds to a sudden-state parking apron, performing strategy trajectory correction on the first standby landing strategy trajectory again to obtain at least one second standby landing strategy trajectory, wherein the first standby landing strategy trajectory comprises a standby landing strategy trajectory falling into a capture constraint boundary of the remote monitoring center system; optimizing the strategy trajectory queue for standby descent according to the second strategy trajectory for standby descent to obtain a strategy trajectory queue for standby descent after optimization is completed; and controlling the unmanned aerial vehicle 40 to execute the cluster landing operation of the unmanned aerial vehicles according to the optimized strategy trajectory queue for standby landing.
Further, a readable storage medium is provided, on which a program is stored, which when executed by a processor implements the method described above.
In summary, in the embodiment of the application, the remote monitoring center system may determine a standby landing strategy trajectory queue including a plurality of standby landing strategy trajectories according to the obtained visual distribution record of the intelligent lamp pole apron cluster to be monitored, and in the process of performing the unmanned aerial vehicle cluster standby landing operation on the standby landing range according to the standby landing strategy trajectory queue, on the premise of capturing that the first standby landing strategy trajectory corresponds to the existing emergency-type apron, may perform strategy trajectory correction on the first standby landing strategy trajectory again to obtain at least one second standby landing strategy trajectory, and optimize the standby landing strategy trajectory queue according to the second standby landing strategy trajectory to obtain the optimized standby landing strategy trajectory queue, and then perform the unmanned aerial vehicle cluster standby landing operation according to the optimized standby landing strategy trajectory queue.
The unmanned aerial vehicle cluster landing method and system based on the intelligent lamp pole parking apron can actively and intelligently capture the burst state parking apron in the process of indicating the unmanned aerial vehicle cluster to land on the intelligent lamp pole parking apron based on the strategy track, and can automatically and real-timely avoid the matching abnormity of individual unmanned aerial vehicles and the burst state parking apron in the unmanned aerial vehicle cluster landing process by correcting the strategy track of the strategy track queue to be landed where the burst state parking apron is located, can ensure the orderliness and the coping capability aiming at the burst situation in the unmanned aerial vehicle cluster landing process, reduce the landing conflict and the interference between the landing unmanned aerial vehicle and the burst state parking apron to a certain extent, and can link the unmanned aerial vehicle in the flying state in advance on the premise of capturing the burst state parking apron, thereby ensure to be equipped with and land unmanned aerial vehicle can be safely, orderly be equipped with and land on appointed wisdom lamp pole parking apron.
It will be understood that the present application is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the application is limited only by the appended claims.
Claims (10)
1. The utility model provides an unmanned aerial vehicle cluster descending method based on wisdom lamp pole air park which characterized in that is applied to remote monitoring center system, the method includes:
determining a standby descending strategy track queue according to the visual distribution record of the intelligent lamp pole parking apron cluster to be monitored, wherein the standby descending strategy track queue comprises a plurality of standby descending strategy tracks;
in the process of executing unmanned aerial vehicle cluster standby landing operation according to the standby landing strategy trajectory queue, on the premise of capturing that a first standby landing strategy trajectory corresponds to a sudden-state parking apron, performing strategy trajectory correction on the first standby landing strategy trajectory again to obtain at least one second standby landing strategy trajectory, wherein the first standby landing strategy trajectory comprises a standby landing strategy trajectory falling into a capture constraint boundary of the remote monitoring center system;
optimizing the standby descending strategy track queue according to the second standby descending strategy track to obtain an optimized standby descending strategy track queue;
and executing the unmanned aerial vehicle cluster standby landing operation according to the optimized standby landing strategy trajectory queue.
2. The method of claim 1, wherein any standby strategy trajectory comprises a first idle smart pole node and a second idle smart pole node, and the performing strategy trajectory modification again on the first standby strategy trajectory to obtain at least one second standby strategy trajectory on the premise that the first standby strategy trajectory is captured corresponding to the presence of the emergency-type apron comprises:
on the premise of capturing that the first standby descending strategy track corresponds to the emergency-state parking apron, performing strategy track correction on the first standby descending strategy track again according to the space description of a first idle intelligent lamp pole node and a second idle intelligent lamp pole node of the first standby descending strategy track and the emergency-state parking apron to obtain at least one second standby descending strategy track;
correspondingly, the performing strategy trajectory correction again on the first standby-lowering strategy trajectory according to the first idle intelligent lamp pole node and the second idle intelligent lamp pole node of the first standby-lowering strategy trajectory and the space description of the emergency-state parking apron to obtain at least one second standby-lowering strategy trajectory includes:
under the premise that the space description of the emergency-state parking apron falls between a first idle intelligent lamp pole node and a second idle intelligent lamp pole node of the first standby landing strategy track, the first standby landing strategy track is split into a second standby landing strategy track d1 and a second standby landing strategy track d2, wherein the second standby landing strategy track d1 uses the first idle intelligent lamp pole node of the first standby landing strategy track as a first idle intelligent lamp pole node, so as to fall between the first idle intelligent lamp pole node of the first standby landing strategy track and the emergency-state parking apron and match the first space description of the emergency-state parking apron is a second idle intelligent lamp pole node, and the second standby landing strategy track d2 uses the second idle intelligent lamp pole node of the first standby landing strategy track and the emergency-state parking apron and match the second space description of the emergency-state parking apron is a first space description And arranging an intelligent lamp pole node, wherein the second idle intelligent lamp pole node of the first standby landing strategy track is used as the second idle intelligent lamp pole node.
3. The method of claim 2, wherein the performing the strategy trajectory correction again on the first standby strategy trajectory according to the first and second idle smart pole nodes of the first standby strategy trajectory and the spatial description of the stateful apron to obtain at least one second standby strategy trajectory comprises:
determining a third spatial description which is matched with the emergency parking apron and falls between the emergency parking apron and a second idle intelligent lamp pole node of the first to-be-lowered strategy track on the premise that the spatial description of the emergency parking apron is bound with the first idle intelligent lamp pole node of the first to-be-lowered strategy track;
obtaining a second standby descending strategy track d3 according to the third space description and a second idle smart pole node of the first standby descending strategy track, wherein the third space description of the second standby descending strategy track d3 is a first idle smart pole node, and the second idle smart pole node of the first standby descending strategy track is a second idle smart pole node;
or, on the premise that the spatial description of the emergency-state parking apron is bound to the second idle smart pole node of the first standby-lowering strategy trajectory, determining a fourth spatial description which matches the emergency-state parking apron and falls between the emergency-state parking apron and the first idle smart pole node of the first standby-lowering strategy trajectory;
and obtaining a second standby descending strategy track d4 according to the fourth space description and the first idle intelligent lamp pole node of the first standby descending strategy track, wherein the second standby descending strategy track d4 takes the first idle intelligent lamp pole node of the first standby descending strategy track as the first idle intelligent lamp pole node, and the fourth space description is taken as the second idle intelligent lamp pole node.
4. The method as claimed in claim 2 or 3, wherein the detection path of the remote monitoring center system is from an idle smart pole head node to an idle smart pole tail node, the idle smart pole head node is a first idle smart pole node or a second idle smart pole node of the standby drop strategy trajectory, the idle smart pole tail node is another idle smart pole node except the idle smart pole head node in the standby drop strategy trajectory, and the standby drop strategy trajectory queue is optimized according to the second standby drop strategy trajectory, so as to obtain a standby drop strategy trajectory queue with optimized standby drop, including:
determining a target standby descending strategy track of an idle intelligent lamp pole head node comprising the first standby descending strategy track from the second standby descending strategy track;
updating a first standby strategy track in the standby strategy track queue by using the target standby strategy track;
determining whether an extended standby descending strategy track exists, wherein the extended standby descending strategy track is a second standby descending strategy track except for the target standby descending strategy track in the second standby descending strategy track;
on the premise that the expanded standby descending strategy track exists, increasing the expanded standby descending strategy track in the standby descending strategy track queue; obtaining a standby descending strategy track queue which is optimized;
and on the premise that the target standby descending strategy track does not exist, updating the first standby descending strategy track in the standby descending strategy track queue by using the second standby descending strategy track.
5. The method of claim 1, wherein performing a drone cluster touchdown operation according to the optimized touchdown strategy trajectory queue comprises:
the remote monitoring center system traverses from the head node of the idle intelligent lamp post of the current standby descending strategy track to the tail node of the idle intelligent lamp post of the current standby descending strategy track;
optimizing the current standby descending strategy track to a standby descending strategy track in the standby descending strategy track queue on the premise that the remote monitoring center system traverses to an idle intelligent lamp post tail node of the current standby descending strategy track, wherein an idle intelligent lamp post head node of the current standby descending strategy track is a first idle intelligent lamp post node or a second idle intelligent lamp post node of the current standby descending strategy track, and an idle intelligent lamp post tail node of the current standby descending strategy track is another idle intelligent lamp post node except the idle intelligent lamp post head node;
correspondingly, the executing the unmanned aerial vehicle cluster standby landing operation according to the optimized standby landing strategy trajectory queue further includes:
on the premise that the remote monitoring center system traverses from the idle intelligent lamp pole head node of the current standby descending strategy track to the idle intelligent lamp pole tail node of the current standby descending strategy track, determining a third standby descending strategy track from the optimized standby descending strategy track queue according to the idle intelligent lamp pole tail node of the current standby descending strategy track;
the remote monitoring center system traverses from the current strategy track to be standby for descent to the third strategy track to be standby for descent;
taking the third standby descending strategy track as a new current standby descending strategy track;
correspondingly, the traversing of the remote monitoring center system from the current standby landing strategy trajectory to the third standby landing strategy trajectory includes:
the remote monitoring center system traverses from the tail node of the idle intelligent lamp post of the current standby descending strategy track to the head node of the idle intelligent lamp post of the third standby descending strategy track;
on the premise that the idle intelligent lamp post tail node of the current standby descending strategy track is the second idle intelligent lamp post node of the current standby descending strategy track, determining that the second idle intelligent lamp post node of the third standby descending strategy track is the idle intelligent lamp post head node of the third standby descending strategy track, and determining that the first idle intelligent lamp post node of the third standby descending strategy track is the idle intelligent lamp post tail node of the third standby descending strategy track;
or, treat that the idle wisdom lamp pole tail node of descending strategy orbit does at present treat that the first idle wisdom lamp pole node of descending strategy orbit does at present under the prerequisite of the first idle wisdom lamp pole node of descending strategy orbit, confirm the first idle wisdom lamp pole node of descending strategy orbit of third is treated the idle wisdom lamp pole head node of descending strategy orbit, and confirms the idle wisdom lamp pole node of second of descending strategy orbit of third is treated the idle wisdom lamp pole tail node of descending strategy orbit of third.
6. The method of claim 5, wherein determining a third standby strategy trajectory from the optimized standby strategy trajectory according to the idle smart light pole tail nodes of the current standby strategy trajectory comprises:
determining whether a strategy track to be prepared for landing exists in a subsequent space of the current strategy track to be prepared for landing on the current intelligent lamp pole parking apron;
on the premise that a standby descending strategy track exists in a space subsequent to the current standby descending strategy track on the current smart lamp pole apron descending sequence, determining a third standby descending strategy track from the standby descending strategy track in the space subsequent to the current standby descending strategy track according to an idle smart lamp pole tail node of the current standby descending strategy track;
correspondingly, according to the idle wisdom lamp pole tail node of present waiting to fall strategy track, follow in waiting to fall strategy track of present waiting to fall strategy track follow-up space the third is awaited to fall strategy track, include:
determining a target idle intelligent lamp pole node from idle intelligent lamp pole nodes corresponding to the standby strategy track in the space subsequent to the current standby strategy track, wherein the target idle intelligent lamp pole node and the idle intelligent lamp pole tail node of the current standby strategy track are idle intelligent lamp pole nodes in the same category, and the target idle intelligent lamp pole node is closest to the idle intelligent lamp pole tail node of the current standby strategy track;
and determining that the strategy track to be prepared for descending corresponding to the target idle intelligent lamppost node is the third strategy track to be prepared for descending.
7. The method of claim 5, wherein the determining a third standby strategy trajectory from the optimized standby strategy trajectory according to the idle smart light pole tail nodes of the current standby strategy trajectory further comprises:
on the premise that a standby descending strategy track does not exist in the space subsequent to the current standby descending strategy track in the standby descending sequence of the current intelligent lamp pole apron, whether a standby descending strategy track having an influence on the current standby descending strategy track exists or not is determined according to an idle intelligent lamp pole tail node of the current standby descending strategy track;
on the premise that a standby descending strategy track having an influence on the current standby descending strategy track exists, determining the standby descending strategy track having an influence on the current standby descending strategy track as the third standby descending strategy track;
correspondingly, according to the idle wisdom lamp pole tail node according to present waiting to descend strategy orbit follow the waiting to descend strategy orbit of accomplishing the optimization confirms the third and waits to descend strategy orbit, still include:
on the premise that the strategy track to be landed does not exist and has influence on the current strategy track to be landed, the current intelligent lamp pole parking apron landing sequence is changed.
8. The method of claim 1, further comprising:
on the premise that the space description of the first burst-state type parking apron does not capture the burst-state type parking apron, determining whether a fourth to-be-prepared landing strategy track related to the space description of the first burst-state type parking apron exists in the to-be-prepared landing strategy track;
on the premise that the fourth standby descending strategy track exists, strategy track correction is carried out on the fourth standby descending strategy track again according to the space description of the first burst-state type apron to obtain a fifth standby descending strategy track;
optimizing the standby descending strategy trajectory queue according to the fifth standby descending strategy trajectory to obtain an optimized standby descending strategy trajectory queue, wherein the space description of the first burst-state type apron comprises the space description of the burst-state type apron in a capture constraint boundary of the remote monitoring center system;
correspondingly, the method further comprises the following steps:
on the premise that the fourth standby landing strategy track does not exist, strategy track correction is carried out according to the space description of the first burst-state type apron to obtain a sixth standby landing strategy track;
and optimizing the strategy trajectory queue for standby descent according to the sixth strategy trajectory for standby descent to obtain the optimized strategy trajectory queue for standby descent.
9. The method of claim 6, wherein performing a drone cluster touchdown operation according to the optimized touchdown strategy trajectory queue further comprises:
on the premise that the third standby landing strategy track does not exist, capturing the range of the sudden-state type apron;
and on the premise that the sudden-state air park is not captured in the range of the sudden-state air park, executing unmanned aerial vehicle cluster landing preparation operation on the range of the sudden-state air park.
10. A remote monitoring center system is characterized by comprising a processor and a memory; the processor is connected in communication with the memory, and the processor is configured to read the computer program from the memory and execute the computer program to implement the method of any one of claims 1 to 9.
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| CN107728643A (en) * | 2017-11-10 | 2018-02-23 | 西安电子科技大学 | A kind of unmanned aerial vehicle group distributed task dispatching method under dynamic environment |
| CN108775531A (en) * | 2018-07-11 | 2018-11-09 | 上海罗曼照明科技股份有限公司 | It can start and monitor the multi-functional street lamp and control method of unmanned plane during flying state |
| WO2022041087A1 (en) * | 2020-08-25 | 2022-03-03 | 江苏省瑞宝特科技发展有限公司 | Multifunctional modular smart lamppost and implementation method therefor |
| CN112179376A (en) * | 2020-11-27 | 2021-01-05 | 深圳联和智慧科技有限公司 | Unmanned aerial vehicle parking apron remote monitoring processing method and system based on intelligent lamp pole |
| CN112230671A (en) * | 2020-12-13 | 2021-01-15 | 深圳联和智慧科技有限公司 | Unmanned aerial vehicle return monitoring method based on smart lamp post and control center |
| CN112241182A (en) * | 2020-12-20 | 2021-01-19 | 深圳联和智慧科技有限公司 | Unmanned aerial vehicle route planning control method and system based on intelligent lamp pole and parking apron |
| CN112817331A (en) * | 2021-01-05 | 2021-05-18 | 北京林业大学 | Intelligent forestry information monitoring system based on multi-machine cooperation |
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